[ntcore] NetworkTables 4 (#3217)

wpilibc/src/main/native/cpp/Preferences.cpp

@@ -6,9 +6,13 @@
 
 #include <algorithm>
 
+#include <fmt/format.h>
 #include <hal/FRCUsageReporting.h>
+#include <networktables/MultiSubscriber.h>
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
+#include <networktables/StringTopic.h>
+#include <networktables/TopicListener.h>
 
 using namespace frc;
 
@@ -21,7 +25,10 @@ struct Instance {
 
   std::shared_ptr<nt::NetworkTable> table{
       nt::NetworkTableInstance::GetDefault().GetTable(kTableName)};
-  NT_EntryListener listener;
+  nt::StringPublisher typePublisher{table->GetStringTopic(".type").Publish()};
+  nt::MultiSubscriber tableSubscriber{nt::NetworkTableInstance::GetDefault(),
+                                      {{kTableName}}};
+  nt::TopicListener listener;
 };
 }  // namespace
 
@@ -44,28 +51,27 @@ std::vector<std::string> Preferences::GetKeys() {
 
 std::string Preferences::GetString(std::string_view key,
                                    std::string_view defaultValue) {
-  return ::GetInstance().table->GetString(key, defaultValue);
+  return ::GetInstance().table->GetEntry(key).GetString(defaultValue);
 }
 
 int Preferences::GetInt(std::string_view key, int defaultValue) {
-  return static_cast<int>(::GetInstance().table->GetNumber(key, defaultValue));
+  return ::GetInstance().table->GetEntry(key).GetInteger(defaultValue);
 }
 
 double Preferences::GetDouble(std::string_view key, double defaultValue) {
-  return ::GetInstance().table->GetNumber(key, defaultValue);
+  return ::GetInstance().table->GetEntry(key).GetDouble(defaultValue);
 }
 
 float Preferences::GetFloat(std::string_view key, float defaultValue) {
-  return ::GetInstance().table->GetNumber(key, defaultValue);
+  return ::GetInstance().table->GetEntry(key).GetFloat(defaultValue);
 }
 
 bool Preferences::GetBoolean(std::string_view key, bool defaultValue) {
-  return ::GetInstance().table->GetBoolean(key, defaultValue);
+  return ::GetInstance().table->GetEntry(key).GetBoolean(defaultValue);
 }
 
 int64_t Preferences::GetLong(std::string_view key, int64_t defaultValue) {
-  return static_cast<int64_t>(
-      ::GetInstance().table->GetNumber(key, defaultValue));
+  return ::GetInstance().table->GetEntry(key).GetInteger(defaultValue);
 }
 
 void Preferences::SetString(std::string_view key, std::string_view value) {
@@ -82,13 +88,13 @@ void Preferences::InitString(std::string_view key, std::string_view value) {
 
 void Preferences::SetInt(std::string_view key, int value) {
   auto entry = ::GetInstance().table->GetEntry(key);
-  entry.SetDouble(value);
+  entry.SetInteger(value);
   entry.SetPersistent();
 }
 
 void Preferences::InitInt(std::string_view key, int value) {
   auto entry = ::GetInstance().table->GetEntry(key);
-  entry.SetDefaultDouble(value);
+  entry.SetDefaultInteger(value);
   entry.SetPersistent();
 }
 
@@ -106,13 +112,13 @@ void Preferences::InitDouble(std::string_view key, double value) {
 
 void Preferences::SetFloat(std::string_view key, float value) {
   auto entry = ::GetInstance().table->GetEntry(key);
-  entry.SetDouble(value);
+  entry.SetFloat(value);
   entry.SetPersistent();
 }
 
 void Preferences::InitFloat(std::string_view key, float value) {
   auto entry = ::GetInstance().table->GetEntry(key);
-  entry.SetDefaultDouble(value);
+  entry.SetDefaultFloat(value);
   entry.SetPersistent();
 }
 
@@ -130,13 +136,13 @@ void Preferences::InitBoolean(std::string_view key, bool value) {
 
 void Preferences::SetLong(std::string_view key, int64_t value) {
   auto entry = ::GetInstance().table->GetEntry(key);
-  entry.SetDouble(value);
+  entry.SetInteger(value);
   entry.SetPersistent();
 }
 
 void Preferences::InitLong(std::string_view key, int64_t value) {
   auto entry = ::GetInstance().table->GetEntry(key);
-  entry.SetDefaultDouble(value);
+  entry.SetDefaultInteger(value);
   entry.SetPersistent();
 }
 
@@ -145,7 +151,9 @@ bool Preferences::ContainsKey(std::string_view key) {
 }
 
 void Preferences::Remove(std::string_view key) {
-  ::GetInstance().table->Delete(key);
+  auto entry = ::GetInstance().table->GetEntry(key);
+  entry.ClearPersistent();
+  entry.Unpublish();
 }
 
 void Preferences::RemoveAll() {
@@ -157,11 +165,13 @@ void Preferences::RemoveAll() {
 }
 
 Instance::Instance() {
-  table->GetEntry(".type").SetString("RobotPreferences");
-  listener = table->AddEntryListener(
-      [=](nt::NetworkTable* table, std::string_view name,
-          nt::NetworkTableEntry entry, std::shared_ptr<nt::Value> value,
-          int flags) { entry.SetPersistent(); },
-      NT_NOTIFY_NEW | NT_NOTIFY_IMMEDIATE);
+  typePublisher.Set("RobotPreferences");
+  listener = nt::TopicListener{
+      table->GetInstance(),
+      {{std::string_view{fmt::format("{}/", table->GetPath())}}},
+      NT_TOPIC_NOTIFY_IMMEDIATE | NT_TOPIC_NOTIFY_PUBLISH,
+      [](const nt::TopicNotification& event) {
+        nt::SetTopicPersistent(event.info.topic, true);
+      }};
   HAL_Report(HALUsageReporting::kResourceType_Preferences, 0);
 }